| Title: | OS4-5 Extending Gazebo simulator for surgical robotics: tissue and suture modeling |
|---|---|
| Publication: | ICAROB2019 |
| Volume: | 24 |
| Pages: | 124-127 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2019.OS4-5 |
| Author(s): | Artur Sagitov, Hongbing Li, Natalia Schiefermeier-Mach, Evgeni Magid |
| Publication Date: | January 10, 2019 |
| Keywords: | robotic surgery, tissue modelling, suture modelling, Gazebo, ROS |
| Abstract: | Active use of a simulator as a training tool has proven to be advantageous to a human surgeon, but there is no open source and convenient universal surgery simulation of a robot surgeon. This paper presents an extension of Gazebo simulator for surgical robots using Robot Operating System. We present software architecture that allows modeling robot interaction with different types of tissue and suture. |
| PDF File: | https://alife-robotics.co.jp/members2019/icarob/data/html/data/OS_pdf/OS4/OS4-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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